UVIO autonomously maps UWB anchors with a GDOP-based trajectory and integrates biased ranges into VIO to eliminate drift while in anchor range.
Cramer–Rao Lower Bound Attainment in Range-Only Positioning Using Geometry: The G-WLS
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UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization
UVIO autonomously maps UWB anchors with a GDOP-based trajectory and integrates biased ranges into VIO to eliminate drift while in anchor range.